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OP-89
math complete but untested git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@919 ebee16cc-31ac-478f-84a7-5cbb03baadba
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corvus
corvus
parent
912fdc6a5a
commit
6f81e33338
@ -25,8 +25,43 @@
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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/*
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* Description of DeviceLink Protocol:
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* A Request is initiated with R/ followed by id's of to be requested settings
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* even id's indicate read only values, odd are write only
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* (usually id =get value id+1= set - for same setting)
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* id's are separated by /
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* requests can contain values to set, or to select a subsystem
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* values are separated by \
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* example: R/30/48/64\0/64\1/
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* request read only settings 30,48 and 64 with parameters 0 and 1
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* the answer consists of an A followed by id value pairs in the same format
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* example: A/30\0/48\0/64\0\22/64\1\102/
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*
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* A full protocol description as well as a list of ID's and their meanings
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* can be found shipped with IL2 in the file DeviceLink.txt
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*
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* id's used in this file:
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* 30: IAS in km/h (float)
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* 32: vario in m/s (float)
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* 38: angular speed °/s (float) (which direction? azimuth?)
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* 40: barometric alt in m (float)
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* 42: flight course in ° (0-360) (float)
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* 46: roll angle in ° (-180 - 180) (floatniguration)
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* 48: pitch angle in ° (-90 - 90) (float)
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* 80/81: engine power (-1.0 (0%) - 1.0 (100%)) (float)
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* 84/85: aileron servo (-1.0 - 1.0) (float)
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* 86/87: elevator servo (-1.0 - 1.0) (float)
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* 88/89: rudder servo (-1.0 - 1.0) (float)
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*
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* IL2 currently offers no useful way of providing GPS data
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* therefore fake GPS data will be calculated using IMS
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*
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* unfortunately angular acceleration provided is very limited, too
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*/
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#include "il2bridge.h"
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#include "extensionsystem/pluginmanager.h"
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#include <math.h>
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Il2Bridge::Il2Bridge(QString il2HostName, int il2Port)
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{
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@ -76,6 +111,12 @@ Il2Bridge::Il2Bridge(QString il2HostName, int il2Port)
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connect(il2Timer, SIGNAL(timeout()), this, SLOT(onIl2ConnectionTimeout()));
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il2Timer->setInterval(il2Timeout);
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il2Timer->start();
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// setup time
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time = new QTime();
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time->start();
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current.T=0;
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}
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Il2Bridge::~Il2Bridge()
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@ -112,7 +153,11 @@ void Il2Bridge::transmitUpdate()
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// .arg(rudder)
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// .arg(throttle);
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QString cmd;
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cmd=QString("R/30/32/34/40/42/46/48/64\\0/64\\1/74\\0/74\\1/164/");
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cmd=QString("R/30/32/38/40/42/46/48/81\\%1/85\\%2/87\\%3/89\\%4/")
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.arg(throttle*2.0-1.0)
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.arg(ailerons)
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.arg(elevator)
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.arg(rudder);
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QByteArray data = cmd.toAscii();
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outSocket->write(data);
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}
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@ -203,66 +248,82 @@ void Il2Bridge::onIl2ConnectionTimeout()
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}
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}
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float Il2Bridge::DENSITY(float alt) {
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return (GROUNDDENSITY * pow(
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(TEMP_GROUND+(TEMP_LAPSE_RATE*alt)/TEMP_GROUND),
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((AIR_CONST_FACTOR/TEMP_LAPSE_RATE)-1) )
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);
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}
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float Il2Bridge::PRESSURE(float alt) {
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return DENSITY(alt)*alt*TEMP_LAPSE_RATE*TEMP_GROUND*AIR_CONST;
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}
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float Il2Bridge::TAS(float IAS, float alt) {
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return (IAS*sqrt(GROUNDDENSITY/DENSITY(alt)));
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}
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void Il2Bridge::processUpdate(QString& data)
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{
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return;
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// Split
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QStringList fields = data.split(",");
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// Get xRate (deg/s)
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float xRate = fields[0].toFloat() * 180.0/M_PI;
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// Get yRate (deg/s)
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float yRate = fields[1].toFloat() * 180.0/M_PI;
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// Get zRate (deg/s)
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float zRate = fields[2].toFloat() * 180.0/M_PI;
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// Get xAccel (m/s^2)
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float xAccel = fields[3].toFloat() * FT2M;
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// Get yAccel (m/s^2)
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float yAccel = fields[4].toFloat() * FT2M;
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// Get xAccel (m/s^2)
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float zAccel = fields[5].toFloat() * FT2M;
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// Get pitch (deg)
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float pitch = fields[6].toFloat();
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// Get pitchRate (deg/s)
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float pitchRate = fields[7].toFloat();
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// Get roll (deg)
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float roll = fields[8].toFloat();
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// Get rollRate (deg/s)
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float rollRate = fields[9].toFloat();
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// Get yaw (deg)
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float yaw = fields[10].toFloat();
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// Get yawRate (deg/s)
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float yawRate = fields[11].toFloat();
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// Get latitude (deg)
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float latitude = fields[12].toFloat();
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// Get longitude (deg)
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float longitude = fields[13].toFloat();
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// Get heading (deg)
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float heading = fields[14].toFloat();
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// Get altitude (m)
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float altitude = fields[15].toFloat() * FT2M;
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// Get altitudeAGL (m)
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float altitudeAGL = fields[16].toFloat() * FT2M;
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// Get groundspeed (m/s)
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float groundspeed = fields[17].toFloat() * KT2MPS;
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// Get airspeed (m/s)
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float airspeed = fields[18].toFloat() * KT2MPS;
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// Get temperature (degC)
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float temperature = fields[19].toFloat();
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// Get pressure (kpa)
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float pressure = fields[20].toFloat() * INHG2KPA;
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QStringList fields = data.split("/");
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old=current;
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int t;
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for (t=0; t<fields->length(); t++) {
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QStringList values = fields[t].split("\\");
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int id = values[0].toInt();
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float value = values[1].toFloat();
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switch (id) {
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case 30:
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current.ias=value * KMH2MPS;
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break;
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case 32:
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current.dZ=value;
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break;
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case 38:
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//angular_speed=value;
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break;
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case 40:
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current.Z=value;
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break;
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case 42:
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current.azimuth=value;
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break;
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case 46:
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current.roll=value;
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break;
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case 48:
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current.pitch=value;
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break;
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}
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current.dT = ((float)time->restart()) / 1000.0;
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current.T = old.T+current.dT;
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current.tas = TAS(current.ias,current.Z);
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current.groundspeed = current.tas*cos(current.pitch*DEG2RAD);
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current.dX = current.groundspeed*sin(current.azimuth*DEG2RAD);
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current.dY = current.groundspeed*cos(current.azimuth*DEG2RAD);
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current.X = old.X + (current.dX/current.dT);
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current.Y = old.Y + (current.dY/current.dT);
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// Update AltitudeActual object
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AltitudeActual::DataFields altActualData;
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altActualData.Altitude = altitudeAGL;
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altActualData.Temperature = temperature;
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altActualData.Pressure = pressure;
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altActualData.Altitude = current.Z;
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altActualData.Temperature = (TEMP_GROUND * current.Z * TEMP_LAPSE_RATE)+273.0;
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altActualData.Pressure = PRESSURE(current.Z)*1000.0; // kpa
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altActual->setData(altActualData);
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// Update attActual object
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AttitudeActual::DataFields attActualData;
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attActualData.Roll = roll;
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attActualData.Pitch = pitch;
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attActualData.Yaw = yaw;
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attActualData.Roll = current.roll;
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attActualData.Pitch = current.pitch;
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attActualData.Yaw = current.yaw;
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attActualData.q1 = 0;
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attActualData.q2 = 0;
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attActualData.q3 = 0;
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@ -272,12 +333,12 @@ return;
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// Update gps objects
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PositionActual::DataFields gpsData;
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gpsData.Altitude = altitude;
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gpsData.Heading = heading;
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gpsData.Groundspeed = groundspeed;
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gpsData.Latitude = latitude;
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gpsData.Longitude = longitude;
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gpsData.Satellites = 10;
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gpsData.Altitude = current.Z;
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gpsData.Heading = current.azimuth;
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gpsData.Groundspeed = current.groundspeed;
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gpsData.Latitude = current.Y * DEG2M;
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gpsData.Longitude = current.X * cos(gpsData.Latitude*DEG2RAD) * DEG2M;
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gpsData.Satellites = 7;
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gpsData.Status = PositionActual::STATUS_FIX3D;
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posActual->setData(gpsData);
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}
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@ -31,6 +31,7 @@
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#include <QObject>
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#include <QUdpSocket>
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#include <QTimer>
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#include <QTime>
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#include <QMessageBox>
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#include <math.h>
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#include "uavtalk/telemetrymanager.h"
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@ -41,6 +42,36 @@
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#include "uavobjects/positionactual.h"
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#include "uavobjects/gcstelemetrystats.h"
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struct flightParams {
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// time
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float T;
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float dT;
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// speed (relative)
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float ias;
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float tas;
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float groundspeed;
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// position (absolute)
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float X;
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float Y;
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float Z;
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// speed (absolute)
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float dX;
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float dY;
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float dZ;
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//angle
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float azimuth;
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float pitch;
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float roll;
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};
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class Il2Bridge: public QObject
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{
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Q_OBJECT
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@ -69,8 +100,22 @@ private slots:
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private:
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static const float FT2M = 0.3048;
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static const float KT2MPS = 0.514444444;
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static const float MPS2KMH = 3.6;
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static const float KMH2MPS = (1.0/MPS2KMH);
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static const float INHG2KPA = 3.386;
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static const float RAD2DEG = (180.0/M_PI);
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static const float DEG2RAD = (1.0/RAD2DEG);
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static const float M2DEG = 60.*1852.; // 60 miles per degree times 1852 meters per mile
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static const float DEG2M = (1.0/M2DEG);
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static const float AIR_CONST = 8314.32; // N*m/(Kmol*K)
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static const float GROUNDDENSITY = 1.225; // kg/m³ ;)
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static const float TEMP_GROUND = (15.0 + 273.0); // 15°C in Kelvin
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static const float TEMP_LAPSE_RATE = -0.0065; //degrees per meter
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static const float AIR_CONST_FACTOR = -0.0341631947363104; //several nature constants calculated into one
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struct FlightParams current;
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struct FlightParams old;
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QUdpSocket* outSocket;
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ActuatorDesired* actDesired;
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AltitudeActual* altActual;
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@ -82,6 +127,7 @@ private:
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int updatePeriod;
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QTimer* txTimer;
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QTimer* il2Timer;
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QTime* time;
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bool autopilotConnectionStatus;
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bool il2ConnectionStatus;
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int il2Timeout;
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